相关论文: Probabilistic Surfel Fusion for Dense LiDAR Mappin…

In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera poses, the proposed mapping system can fuse intensity images…

The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…

LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…

An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…

With the prevalence of multimodal learning, camera-LiDAR fusion has gained popularity in 3D object detection. Although multiple fusion approaches have been proposed, they can be classified into either sparse-only or dense-only fashion based…

We propose a new approach called LiDAR-Flow to robustly estimate a dense scene flow by fusing a sparse LiDAR with stereo images. We take the advantage of the high accuracy of LiDAR to resolve the lack of information in some regions of…

We present a new technique that achieves a significant reduction in the quantity of measurements required for a fusion based dense 3D mapping system to converge to an accurate, de-noised surface reconstruction. This is achieved through the…

The efficient fusion of depth maps is a key part of most state-of-the-art 3D reconstruction methods. Besides requiring high accuracy, these depth fusion methods need to be scalable and real-time capable. To this end, we present a novel…

In this paper, we propose a novel training strategy called SupFusion, which provides an auxiliary feature level supervision for effective LiDAR-Camera fusion and significantly boosts detection performance. Our strategy involves a data…

In this paper, we present a new system for live collaborative dense surface reconstruction. Cooperative robotics, multi participant augmented reality and human-robot interaction are all examples of situations where collaborative mapping can…

We present a novel method to reconstruct 3D scenes from images by leveraging deep dense monocular SLAM and fast uncertainty propagation. The proposed approach is able to 3D reconstruct scenes densely, accurately, and in real-time while…

In the field of spatial-spectral fusion, the model-based method and the deep learning (DL)-based method are state-of-the-art. This paper presents a fusion method that incorporates the deep neural network into the model-based method for the…

Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the cost of loop closure while still provides large-scale fusion-based dense maps, when compared to the trajectory-centric SLAM approaches. In this…

In this paper, we propose a novel method for image fusion with a high-resolution panchromatic image and a low-resolution multispectral image at the same geographical location. The fusion is formulated as a convex optimization problem which…

Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…

A simple, yet general, formalism for the optimized linear combination of astrophysical images is constructed and demonstrated. The formalism allows the user to combine multiple undersampled images to provide oversampled output at high…

This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned environment to control memory usage growth by fusing…

The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…